#ifndef __HEAD_TASK_H
#define __HEAD_TASK_H

#include "stm32f4xx.h"                  // Device header

uint8_t heading(uint8_t DBUS_STATUS);
uint8_t MSE_F_TOTAL_CONTRAL(void);

uint8_t MecanumInit(void);
void MecanumResolve(int16_t vx_temp , int16_t vy_temp , int16_t vr);


#endif
